Linux1394Capture.h

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// ****************************************************************************
// This file is part of the Integrating Vision Toolkit (IVT).
//
// The IVT is maintained by the Karlsruhe Institute of Technology (KIT)
// (www.kit.edu) in cooperation with the company Keyetech (www.keyetech.de).
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// ****************************************************************************
// ****************************************************************************
// Filename:  Linux1394Capture.h
// Author:    Pedram Azad, Kai Welke
// Date:      2005
// ****************************************************************************
// Changes:   24.08.2006, Kai Welke
//            * Added YUV411 support
//            25.09.2006, Kai Welke
//            * Added support for UIDs and different frame rates
// ****************************************************************************


#ifndef _LINUX_1394_CAPTURE_H_
#define _LINUX_1394_CAPTURE_H_


// ****************************************************************************
// Necessary includes
// ****************************************************************************

#include "Interfaces/VideoCaptureInterface.h"
#include "Image/ImageProcessor.h"
#include <string>

#include <libraw1394/raw1394.h>
#include <libdc1394/dc1394_control.h>



// ****************************************************************************
// Forward declarations
// ****************************************************************************

class CByteImage;


// ****************************************************************************
// Defines
// ****************************************************************************

#define MAX_CAMERAS 4 // don't set this smaller than 2
#define MAX_PORTS 4




// ****************************************************************************
// CLinux1394Capture
// ****************************************************************************

class CLinux1394Capture : public CVideoCaptureInterface
{
public:
        // constructor, variable arguments are camera uids as const char*
        CLinux1394Capture(int nCameras, VideoMode mode, ColorMode colorMode, ImageProcessor::BayerPatternType bayerPatternType = ImageProcessor::eBayerRG, FrameRate frameRate = e30fps); 
        CLinux1394Capture(VideoMode mode, ColorMode colorMode, ImageProcessor::BayerPatternType bayerPatternType = ImageProcessor::eBayerRG, FrameRate frameRate = e30fps, int nNumberUIDs = 0, ...);
        
        // format 7 modes
        CLinux1394Capture(int nCameras, VideoMode mode, int nFormat7PacketSize = -1, int nFormat7MinX = 0, int nFormat7MinY = 0, int nFormat7Width = 640, int nFormat7Height = 480,
        ColorMode colorMode = CVideoCaptureInterface::eBayerPatternToRGB24, ImageProcessor::BayerPatternType bayerPatternType = ImageProcessor::eBayerRG);
        
        CLinux1394Capture(VideoMode mode, int nFormat7PacketSize = -1, int nFormat7MinX = 0, int nFormat7MinY = 0, int nFormat7Width = 640, int nFormat7Height = 480,
        ColorMode colorMode = CVideoCaptureInterface::eBayerPatternToRGB24, ImageProcessor::BayerPatternType bayerPatternType = ImageProcessor::eBayerRG, int nNumberUIDs = 0, ...);
        
        
        // destructor
        ~CLinux1394Capture();


        // public methods
        bool OpenCamera();
        void CloseCamera();
        bool CaptureImage(CByteImage **ppImages);
        bool CaptureBayerPatternImage(CByteImage **ppImages);
        
        void SetGain(unsigned int nValue);
        void SetExposure(unsigned int nValue);
        void SetShutter(unsigned int nValue);

        int GetWidth() { return width; }
        int GetHeight() { return height; }
        CByteImage::ImageType GetType();
        int GetNumberOfCameras() { return m_nCameras; }

        
private:
        struct TCameraInfo
        {
                int     nPort;
                int     nIndex;
                std::string sUID;
        };
        
        // private methods
        bool OpenCamera(int nCamera);
        bool InitCameraMode();
        int GetDCFrameRateMode(FrameRate frameRate);

        // conversion
        void ConvertYUV411(CByteImage* pInput, CByteImage* pOutput);
        void YUVToRGB(int y, int u, int v, unsigned char* output);

        // multiple camera handling
        bool ListCameras();
        std::string CamUIDToString(unsigned int nLow, unsigned int nHigh);
        
        // private attributes
        // temporary images for capruting
        CByteImage *m_pTempImageHeader;
        CByteImage *m_pTempImage;
        
        int m_nPorts;
        int m_nMode;

        int width;
        int height;
        
        // number of cameras requested by user
        int m_nCameras;
        // requested video mode (see VideoCaptureInterface.h)
        const VideoMode m_mode;
        // requested color mode (see VideoCaptureInterface.h)
        const ColorMode m_colorMode;
        // requested frame rate (see VideoCaptureInterface.h)
        FrameRate m_frameRate;
        // requested bayer pattern type (see ImageProcessor.h)
        const ImageProcessor::BayerPatternType m_bayerPatternType;
        // unique camera ids as requested by user
        std::string m_sCameraUID[MAX_CAMERAS];
        bool m_bUseUIDs;
        // opened camera ids
        int m_nOpenedCameras[MAX_CAMERAS];
        // video mode
        int m_video_mode;
        // format 7 mode
        bool m_bFormat7Mode;
        int m_nFormat7PacketSize;
        int m_nFormat7MinX;
        int m_nFormat7MinY;
        int m_nFormat7Width;
        int m_nFormat7Height;
        
        // static for all instances
        // lib dc + raw specific camera data
        static raw1394handle_t m_handles[MAX_CAMERAS];
        static dc1394_cameracapture m_cameras[MAX_CAMERAS];
        static nodeid_t *m_pCameraNodes[MAX_PORTS];

        // internal camera data
        static int m_nOverallCameras;
        static TCameraInfo m_CameraInfo[MAX_CAMERAS];
        static CLinux1394Capture *m_pCameraOpener[MAX_CAMERAS];

        // static instance counter for handle destruction
        static int m_nInstances;
};



#endif /* _LINUX_1394_CAPTURE_H_ */